Proceedings of the Korean Institute of Information and Commucation Sciences Conference (한국정보통신학회:학술대회논문집)
- 2010.05a
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- Pages.975-978
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- 2010
Adaptive Augmented Kalman Modeling for Embedded Autonomous Robot Systems under Wireless Sensor Network
- Cho, Hyun-Cheol (School of Electrical & Electronic Eng., Ulsan College) ;
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Kim, Kwan-Hyung
(Department of Computer Eng., Tongmyong Univ.)
;
- Yeo, Dae-Yeon (Department of Electrical Eng., Dong-A Univ.) ;
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Lee, Kwon-Soon
(Department of Electrical Eng., Dong-A Univ.)
- Published : 2010.05.27
Abstract
This paper presents a Kalman filter based modeling algorithm for autonomous robots. State of the robot systems is measured by using embedded sensors and then carried to a host computer via ubiquitous sensor network (USN). We settle a linear state space motion equation for unknown system dynamics and modify a popular Kalman filter algorithm in deriving suitable parameter estimation mechanism. We conduct real-time experiment to test our proposed modeling algorithm where velocity state of the constructed robot is used as system observation.
Keywords